ColorPositionShaderLogic

GPU compute shader that converts depth and color raster frames into 3D colored point positions. More...

Collaboration diagram for ColorPositionShaderLogic:

Classes
struct	UBO
	Uniform buffer object layout for the color-position compute shader. More...

Public Member Functions
void	buildShader ()
	Compile and link the compute shader program.
void	createImage (const Vector< 2, uint04 > &size)
	Create the GPU depth image texture.
void	createUBOBuffer ()
	Create the GPU uniform buffer object for shader parameters.
template<class t_point_type>
void	getInput (PointContainer< t_point_type > &active)
	Read back computed 3D positions and weights from the GPU.
void	runAll (Buffer< RGBColor > &last_colors)
	Dispatch the compute shader and read back colors.
void	setQtGL (QOpenGLFunctions_4_3_Core *gl)
	Set the OpenGL function pointer table used by this shader.
void	setUBO (const UBO &u)
	Upload uniform buffer data to the GPU.
void	updateImage (const uint01 *data, const Vector< 2, uint04 > &size)
	Upload new depth data to the GPU texture.
void	uploadInputs (const uint01 *depth, Vector< 2, uint04 > size)
	Upload depth data and ensure GPU storage buffers are large enough.

Protected Attributes
bool	has_normal = false
	Whether the shader outputs normals.
GLuint	m_csA = 0
	Compute shader handle.
GLuint	m_depth_image = 0
	GPU texture handle for the depth image.
Buffer< RGBColor >	m_last_colors
	Previously computed color buffer.
QOpenGLShaderProgram *	m_shader = nullptr
	Compiled compute shader program.
uint04	m_size_i = 0
	Total number of pixels being processed.
GLuint	m_ssboPos = 0
	Shader storage buffer for output positions.
GLuint	m_ssboW = 0
	Shader storage buffer for output weights.
GLuint	m_tex = 0
	Color texture handle.
GLuint	m_uboU = 0
	Uniform buffer object handle.

Detailed Description

GPU compute shader that converts depth and color raster frames into 3D colored point positions.

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Uses OpenGL 4.3 compute shaders to unproject depth pixels into world-space 3D points, applying camera intrinsics (focal length, principal point, distortion coefficients) and an extrinsic view matrix. Outputs position and weight buffers consumed by the point pipeline.

Definition at line 16 of file ColorPositionShaderLogic.h.

Member Function Documentation

createImage()

void ColorPositionShaderLogic::createImage

(

const Vector< 2, uint04 > &

size

)

Create the GPU depth image texture.

Parameters

[in]

size

Width and height of the depth image in pixels.

Referenced by uploadInputs().

getInput()

template<class t_point_type>

void ColorPositionShaderLogic::getInput ( PointContainer< t_point_type > & active )

inline

Read back computed 3D positions and weights from the GPU.

Parameters

[in,out]

active

Point container to receive the output positions and weights.

Definition at line 63 of file ColorPositionShaderLogic.h.

References PointContainer< t_point_type >::clear(), PointContainer< t_point_type >::locations, m_size_i, m_ssboPos, m_ssboW, PointContainer< t_point_type >::setSize(), and PointContainer< t_point_type >::weights.

runAll()

void ColorPositionShaderLogic::runAll

(

Buffer< RGBColor > &

last_colors

)

Dispatch the compute shader and read back colors.

Parameters

[in,out]

last_colors

Buffer to receive the computed color data.

setQtGL()

void ColorPositionShaderLogic::setQtGL

(

QOpenGLFunctions_4_3_Core *

gl

)

Set the OpenGL function pointer table used by this shader.

Parameters

[in]

gl

Pointer to the OpenGL 4.3 core functions.

setUBO()

void ColorPositionShaderLogic::setUBO

(

const UBO &

u

)

Upload uniform buffer data to the GPU.

Parameters

[in]

u

The uniform buffer contents to upload.

updateImage()

void ColorPositionShaderLogic::updateImage	(	const uint01 *	data,
		const Vector< 2, uint04 > &	size )

Upload new depth data to the GPU texture.

Parameters

[in]	data	Raw depth image bytes.
[in]	size	Width and height of the depth image in pixels.

Referenced by uploadInputs().

uploadInputs()

void ColorPositionShaderLogic::uploadInputs ( const uint01 * depth, Vector< 2, uint04 > size )

inline

Upload depth data and ensure GPU storage buffers are large enough.

Parameters

[in]	depth	Raw depth image bytes.
[in]	size	Width and height of the depth image in pixels.

Definition at line 80 of file ColorPositionShaderLogic.h.

References createImage(), m_depth_image, m_size_i, m_ssboPos, m_ssboW, and updateImage().

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The documentation for this class was generated from the following file:

• RasterPointScanner/Headers/ColorPositionShaderLogic.h